Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic Systems

Xiuyu Zhang; Ruijing Jing; Zhiwei Li; Zhi Li; Xinkai Chen; Chun-Yi Su

doi:10.1109/JAS.2020.1003435

Volume 8 Issue 4

Apr. 2021

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2021 > 8(4): 916-928

Xiuyu Zhang, Ruijing Jing, Zhiwei Li, Zhi Li, Xinkai Chen, and Chun-Yi Su, "Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic Systems," IEEE/CAA J. Autom. Sinica, vol. 8, no. 4, pp. 916-928, Apr. 2021. doi: 10.1109/JAS.2020.1003435

Citation:

Xiuyu Zhang, Ruijing Jing, Zhiwei Li, Zhi Li, Xinkai Chen, and Chun-Yi Su, "Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic Systems," IEEE/CAA J. Autom. Sinica, vol. 8, no. 4, pp. 916-928, Apr. 2021. doi: 10.1109/JAS.2020.1003435

Citation:

Xiuyu Zhang, Ruijing Jing, Zhiwei Li, Zhi Li, Xinkai Chen, and Chun-Yi Su, "Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic Systems," IEEE/CAA J. Autom. Sinica, vol. 8, no. 4, pp. 916-928, Apr. 2021. doi: 10.1109/JAS.2020.1003435

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Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic Systems

doi: 10.1109/JAS.2020.1003435

Xiuyu Zhang^{1, 2
,},
Ruijing Jing^{1, 2
,},
Zhiwei Li^{1, 2
,
,},
Zhi Li^3
,,
Xinkai Chen^{1, 2
,},
Chun-Yi Su^{1, 2
,}

1.
School of Automation Engineering, Northeast Electric Power University, Jilin 132012, China
2.
Jilin Province International Research Center of Precision Drive and Intelligent Control
3.
State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China

Funds: This work was supported in part by the National Natural Science Foundation of China (61673101, 61973131, 61733006, U1813201), the Japan Society for the Promotion of Science (C-18K04212), the Science and Technology Project of Jilin Province (20180201009SF, 20170414011GH, 20180201004SF, 20180101069JC), the Fundamental Research Funds for the Central Universities (N2008002), and “Xing Liao Ying Cai” Program (XLYC1907073)

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Author Bio:
Xiuyu Zhang (M’17) received the B.S. and M.S. degrees from Northeast Dianli University, in 2003 and 2006, respectively, and the Ph.D. degree from Beijing University of Aeronautics and Astronautics (BUAA), in 2012. He is currently a Professor with the School of Automation Engineering, Northeast Electric Power University. His research interests include robust and adaptive control for nonlinear systems

Ruijing Jing received the B.S. degree from the Suihua University, in 2018. She is currently pursuing the M.S. degree with Northeast Electric Power University. Her research interests include robust and adaptive control for nonlinear systems

Zhiwei Li received the M.Sc. and Ph.D. degrees in mechatronics and robotics engineering from Northeast Forestry University, in 2005 and 2008, respectively. He is currently an Assistant Professor with the School of Automation Engineering, Northeast Electric Power University. His current research interests include flying robots, multi-robot systems, model free robust, and optimal control

Zhi Li (M’17) received the Ph.D. degree in mechanical engineering from Concordia University, Canada, in 2015. He was a Postdoctoral Research Fellow at Eindhoven University of Technology, Netherlands, and York University, Canada. Dr. Li was an Alexander von Humboldt Research Fellow at Otto-vonGuericke Universität Magdeburg, Germany. He is currently a Full Professor of the State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University. His research interests include dynamics and control of smart actuators, and hysteresis modeling and compensation

Xinkai Chen (SM’02) received the Ph.D. degree in engineering from Nagoya University, Japan, in 1999. He is currently a Professor in the Department of Electronic and Information Systems, Shibaura Institute of Technology, Japan. His research interests include adaptive control, smart materials, hysteresis, sliding mode control, machine vision, and observer. Dr. Chen has served as an Associate Editor of several journals, including IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, IEEE/ASME Transactions on Mechatronics, European Journal of Control, etc. He has also served for international conferences as organizing committee members including Program Chairs, Program Co-Chairs, etc

Chun-Yi Su (SM’99) received the Ph.D. degree in control engineering from the South China University of Technology in 1990. After a seven-year stint at the University of Victoria, he joined Concordia University, Canada, in 1998, where he is currently a Professor of mechanical and industrial engineering and holds the Concordia University Research Chair in Control. He has also held several short-time visiting positions including Chang Jiang Chair Professorship by Ministry of Education of China and JSPS Invitation Fellowship from Japan. Dr. Su’s research interests include control theory and its applications to various mechanical systems, with a recent focus on control of systems involving hysteresis nonlinearities. He is the author or co-author of over 300 publications, which have appeared in journals, as book chapters and in conference proceedings. Dr. Su has served as an Associate Editor of the IEEE Transactions on Automatic Control and the IEEE Transactions on Control Systems Technology. He has been on the Editorial Board of 18 journals, including IFAC’s Mechatronics. Dr. Su has also served for many conferences as an organizing committee member
Corresponding author: Zhiwei Li, e-mail: 657580390@qq.com
Manuscript received August 10, 2020; accepted September 7, 2020. This work was supported in part by the National Natural Science Foundation of China (61673101, 61973131, 61733006, U1813201), the Japan Society for the Promotion of Science (C18K04212), the Science and Technology Project of Jilin Province (20180201009SF, 20170414011GH, 20180201004SF, 20180101069JC), the Fundamental Research Funds for the Central Univer-sities (N2008002), and “Xing Liao Ying Cai” Program (XLYC1907073). Recommended by Associate Editor Yebin Wang. (Corresponding author: Zhiwei Li.) Citation: X. Y. Zhang, R. J. Jing, Z. W. Li, Z. Li, X. K. Chen, and C.-Y. Su, “Adaptive pseudo inverse control for a class of nonlinear asymmetric and saturated nonlinear hysteretic systems,” IEEE/CAA J. Autom. Sinica, vol. 8, no. 4, pp. 916–928, Apr. 2021. X. Zhang, R. Jing, and Z. W. Li are with the School of Automation Engin- eering, Northeast Electric Power University, and also with Jilin Province International Research Center of Precision Drive and Intelligent Control, Jilin 132012, China (e-mail: zhangxiuyu80@163.com; 870565824@qq.com; 657580390@qq.com). Z. Li is with the State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China (e-mail: gavinlizhi@gmail.com).
X. Chen is with the Department of Electronic and Information Systems, Shibaura Institute of Technology，Saitama 337-8570，Japan (e-mail: chen@shibaura-it.ac.jp). C.-Y. Su is with the Department of Mechanical and Industrial Engineering, Concordia University, QC, Montreal H3B 1R6, Canada (e-mail: cysu@alcor.concordia.ca). Color versions of one or more of the figures in this paper are available online at http://ieeexplore.iece.org. Digital Object Identifier 10.1109/JAS.2020.1003435
Received Date: 2020-08-10
Accepted Date: 2020-09-07

Available Online: 2020-09-22

Abstract

Abstract

This paper aims at eliminating the asymmetric and saturated hysteresis nonlinearities by designing hysteresis pseudo inverse compensator and robust adaptive dynamic surface control (DSC) scheme. The “pseudo inverse” means that an on-line calculation mechanism of approximate control signal is developed by applying a searching method to the designed temporary control signal where the true control signal is included. The main contributions are summarized as: 1) to our best knowledge, it is the first time to compensate the asymmetric and saturated hysteresis by using hysteresis pseudo inverse compensator because the construction of the true saturated-type hysteresis inverse model is very difficult; 2) by designing the saturated-type hysteresis pseudo inverse compensator, the construction of true explicit hysteresis inverse and the identifications of its corresponding unknown parameters are not required when dealing with the saturated-type hysteresis; 3) by combining DSC technique with the tracking error transformed function, the “explosion of complexity” problem in backstepping method is overcome and the prespecified tracking performance is achieved. Analysis of stability and experimental results on the hardware-in-loop platform illustrate the effectiveness of the proposed adaptive pseudo inverse control scheme.
- Adaptive dynamic surface control,
- adaptive pseudo inverse control,
- asymmetric and saturated hysteresis,
- robust control

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Manuscript received August 10, 2020; accepted September 7, 2020. This work was supported in part by the National Natural Science Foundation of China (61673101, 61973131, 61733006, U1813201), the Japan Society for the Promotion of Science (C18K04212), the Science and Technology Project of Jilin Province (20180201009SF, 20170414011GH, 20180201004SF, 20180101069JC), the Fundamental Research Funds for the Central Univer-sities (N2008002), and “Xing Liao Ying Cai” Program (XLYC1907073). Recommended by Associate Editor Yebin Wang. (Corresponding author: Zhiwei Li.) Citation: X. Y. Zhang, R. J. Jing, Z. W. Li, Z. Li, X. K. Chen, and C.-Y. Su, “Adaptive pseudo inverse control for a class of nonlinear asymmetric and saturated nonlinear hysteretic systems,” IEEE/CAA J. Autom. Sinica, vol. 8, no. 4, pp. 916–928, Apr. 2021. X. Zhang, R. Jing, and Z. W. Li are with the School of Automation Engin- eering, Northeast Electric Power University, and also with Jilin Province International Research Center of Precision Drive and Intelligent Control, Jilin 132012, China (e-mail: zhangxiuyu80@163.com; 870565824@qq.com; 657580390@qq.com). Z. Li is with the State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China (e-mail: gavinlizhi@gmail.com).
X. Chen is with the Department of Electronic and Information Systems, Shibaura Institute of Technology，Saitama 337-8570，Japan (e-mail: chen@shibaura-it.ac.jp). C.-Y. Su is with the Department of Mechanical and Industrial Engineering, Concordia University, QC, Montreal H3B 1R6, Canada (e-mail: cysu@alcor.concordia.ca). Color versions of one or more of the figures in this paper are available online at http://ieeexplore.iece.org. Digital Object Identifier 10.1109/JAS.2020.1003435

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A hysteresis pseudo inverse compensator is developed for the high-precision control of continuous-time nonlinear systems with asymmetric and saturated hysteresis.
Combined with the hysteresis pseudo inverse compensator and dynamic surface control method, the asymmetric and saturated hysteresis can be effectively mitigated without the requiring the true hysteresis inverse model.
The method is to obtain the input signal of hysteresis by finding the optimal value of the PI performance index.
The performance and error conversion functions are introduced in the design process of the controller to ensure the predetermined performance indicators.
Compared with the backstepping control scheme, the DSC algorithm can eliminate

Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic Systems

doi: 10.1109/JAS.2020.1003435

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